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RESEARCH PAPERS: Additional Technical Papers

Robust Trajectory Following Control of Robotic Systems

[+] Author and Article Information
S. N. Singh

Vigyan Research Associates, Inc., Hampton, VA 23666

A. A. Schy

NASA Langley Research Center, Spacecraft Control Branch, Hampton, VA 23665

J. Dyn. Sys., Meas., Control 107(4), 308-315 (Dec 01, 1985) (8 pages) doi:10.1115/1.3140741 History: Received February 01, 1985; Online July 21, 2009

Abstract

Using an inversion approach we derive a control law for trajectory following of robotic systems. A servocompensator is used around the inner decoupled loop for robustness to uncertainty in the system. These results are applied to trajectory control of a three-degrees-of-freedom robot arm and control laws Cθ and CH for joint angle and position trajectory following, respectively, are derived. Digital simulation results are presented to show the rapid trajectory following capability of the controller in spite of payload uncertainty.

Copyright © 1985 by ASME
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